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针对水下焊接环境要求,设计了一种履带式水下焊接机器人系统,该系统由机器人本体机构、激光视觉传感器、控制系统和焊接系统组成. 机器人本体机构由履带式移动平台和焊枪调节机构构成,运动灵活可靠,满足水下焊接焊缝跟踪要求. 完成了视觉传感器部件选型及光路设计,实现水下环境的焊缝自动识别. 设计了基于PLC机器人控制系统和协调控制方法,实现水下环境的焊缝跟踪控制. 同时在水下焊接试验平台完成焊接跟踪试验. 结果表明,机器人运行稳定,焊缝成形较好,焊接质量满足要求. 相似文献
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目前研发的移动机器人,根据移动的方法通常分为轮式、腿式和履带式机器人等,不同移动方式的移动机器人都有着各自的特点。通过对移动机器人进行分类,梳理并分析了单一方式运行的移动机器人的技术现状,并对不同移动方式机器人的优缺点进行论述。北京交通大学机器人技术在国内具有良好的知名度和声誉,并且机器人技术具有较高的学术水平和产学研一体化的特色,在此,根据北京交通大学对轮式、腿式、履带式移动机器人的发明和实用新型专利申请的案例进行举例分析。 相似文献
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针对履带机器人在越障过程中出现的不稳定问题,设计了一种特殊结构的被动摇臂履带机器人。用UG建立了履带机器人的三维模型,对其在越障性能之一的爬楼梯过程中进行了打滑性理论分析,并通过多体动力学软件RecurDyn进行了运动学仿真,从而验证了该机构的可行性,为被动摇臂履带式机器人的发展提供了依据。 相似文献
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采用回弹法对某地铁线路新建基坑进行检测,利用钢筋检测仪探测钢筋的位置及间距,使用质量分数为1%酚酞酒精溶液和混凝土碳化深度尺测量混凝土表面的碳化深度,再用回弹仪测取混凝土表面的回弹值,根据平均回弹值及平均碳化深度可得出混凝土强度换算值,继而计算出混凝土强度推定值。通过现场检测,总结了回弹法检测混凝土强度精确度的影响因素以及提高检测精确度的措施。采用三维激光扫描技术结合人工方法对地铁线路结构平面、断面进行测量,再对其使用现状进行调查。检测及现状调查结果表明,该地铁线路结构车站、区间隧道混凝土强度符合原设计要求,地铁结构存在剥落、裂纹、渗水等病害,研究成果可为地铁结构健康评估提供参考及依据。 相似文献
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为了提高不锈钢厨具冲压生产的自动化水平,改善现场工作环境,文章采用"PC+运动控制卡+PLC"的开放式数控系统构架,应用LAAS三层体系结构,构造了不锈钢厨具拉伸成型工序机器人系统。该系统以工业机器人为基础,在Visual C++环境中运用MFC开发了机器人控制软件。实验表明,该系统设计合理,满足生产自动化要求。 相似文献
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Wang Yi Wang Jingjin Wang Kuilu Liu Guozhi Zhu Guofu Zhang Yuanlin Du Hongliang 《NDT & E International》1999,32(4):215-218
A portable, pulsed electronic digital X-ray imaging device has been developed. The system is intended to be used in explosive ordnance disposal, police and customs baggage inspection and nondestructive testing (NDT). Image acquisition is performed by a charge-coupled-device (CCD) imaging sensors which view the output of an X-ray scintillation screen via an optical system. The construction of the system, its specifications, and test results are presented. 相似文献
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为提高工业CT探测炸药的信噪比和可靠性,利用小波变换的方法降低信号噪声以实现有效的炸药探测。结果显示小波变换可对工业CT探测的炸药信号进行分析,能有效抑制噪声和提高信噪比,并可检测出药柱的裂纹及其位置。 相似文献
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对上海地铁一号线使用的进口车辆上齿轮箱悬挂装置损坏后采用国产材料、工艺制作连接套、堆焊工艺修复连接轴的修复工程进行了详述讨论,并提出了和分析某些影响悬挂装置使用寿命的设计和加工因素,为今后进一步的国产化提供了经验。 相似文献
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采用生命周期评价方法对锌冶炼过程中的两种污酸处置工艺进行评价和对比。结果表明,气液硫化法的环境影响主要为人体毒性、非生物资源耗竭和全球变暖潜值,这些环境问题主要由中和-蒸发-结晶与电渗析单元造成;同时传统石灰石中和法中的硫化单元也是环境影响的主要来源,且石灰石中和法的总环境影响比气液硫化法高很多。结合敏感性分析发现,气液硫化法和石灰石中和法敏感度因子均为电和硫化钠(60%),且石灰石中和法处置单位污酸的总成本约为气液硫化法的27倍。 相似文献
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Y. D. Qu W. J. Zhang X. Q. Kong X. Zhao 《The Physics of Metals and Metallography》2016,117(3):260-266
The heat-transfer behavior of the interface of Flyer plate (or Base Plate) has great influence on the microcosmic structures, stress distributions, and interface distortion of the welded interface of composite plates by explosive welding. In this paper, the temperature distributions in the combing zone are studied for the case of Cu/Fe composite plate jointed by explosive welding near the lower limit of explosive welding. The results show that Flyer plate (Cu plate) and Base Plate (Fe plate) firstly almost have the same melting rate in the explosive welding process. Then, the melting rate of Cu plate becomes higher than that of Fe plate. Finally, the melt thicknesses of Cu plate and Fe plate trend to be different constants, respectively. Meanwhile, the melting layer of Cu plate is thicker than that of Fe plate. The research could supply some theoretical foundations for calculating the temperature distribution and optimizing the explosive welding parameters of Cu/Fe composite plate to some extent. 相似文献
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在T10/Q235复合板的爆炸焊接试验中发现,成功爆炸焊接所需的实际最少药量比传统可焊性窗口下限动态参数确定的药量还减少了15%-20%左右,由此给出爆炸焊接药量系数修正式。依据修正式对3Cr13/Q235、1Cr18Ni9Ti/铸钢和62硬质黄铜/Q235复合板进行实际爆炸焊接生产检验,不仅大大减少了焊接药量和减轻了爆炸效应对环境的危害,而且复合板的焊接质量也完全满足工程的使用要求。因此,将修正式定义为对复合板爆炸焊接生产具有重要实际指导意义“最佳焊接药量窗口”。 相似文献
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Thermal solidification of stainless steelmaking dust 总被引:1,自引:0,他引:1
Stainless steelmaking dust makes an environmental problem in the disposal or landfills and has been assigned as a hazardous waste by various government regulatory agencies because it leaches heavy metals to the groundwater or rainwater in the concentrations exceeding the environmental guidelines for solid waste disposal. Solidification of the dust is to stabilize the hazardous components into amorphous silica-alumina-based clays. Various mixtures of stainless steelmaking dust and clay were investigated and the softening temperatures of these mixtures were measured. The results indicate that the mixture of stainless steelmaking dust and clay additive with 1:1 ratio has the lowest softening temperature of I 100 ℃. The clinkers can pass the TCLP leaching test after being thermally treated at the softening temperature for 15 min. A thermal process for the solidification of stainless steelmaking dust with typical clay is developed and the product is desirable for the production of bricks or disposal and landfill. 相似文献
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Analytical and experimental investigation of coolant velocity in high speed grinding 总被引:4,自引:1,他引:3
K. Ramesh H. Huang L. Yin 《International Journal of Machine Tools and Manufacture》2004,44(10):1069-1076
Use of water-base coolant is a pre-requisite in an high speed grinding process to avoid thermal damage and to achieve better surface integrity as well as higher grinding ratio. However, the presence of hazardous chemical additives in the coolant causes environmental problems. As a result, stringent government legislation is being practiced for the coolant use and disposal, which consumes 7–17% of the total machining cost. This paper reports the coolant flux minimization through controlled jet impingement so as to prolong the coolant replenishment cycle. Control of coolant flux was achieved through development of a “metered quantity coolant” (MQC) nozzle which supplies the required amount of coolant to the grinding zone. Also, this investigation has shown that coolant velocity has a significant influence on the high speed grinding performance. When the coolant velocity is inadequate, coolant could not penetrate into the grinding zone. The increase in coolant velocity was realized with reduction in nozzle opening area and does not use a large quantity of coolant. This is of significance to reduce environmental pollution and machining costs through extended coolant replenishment period. 相似文献